Markus Vieth

The thing is that [octree_pointcloud_compression.h](https://github.com/PointCloudLibrary/pcl/blob/master/io/include/pcl/compression/octree_pointcloud_compression.h) does not use `PCL_NO_PRECOMPILE` (no conditional include of [octree_pointcloud_compression.hpp](https://github.com/PointCloudLibrary/pcl/blob/master/io/include/pcl/compression/impl/octree_pointcloud_compression.hpp)), like other files do. @kunaltyagi Perhaps we should change that. @synsin0 For now, you can try...

Currently only PointXYZ, PointXYZRGB, and PointXYZRGBA are supported. To support PointXYZI, we would need something similar to [`ColorCoding`](https://pointclouds.org/documentation/classpcl_1_1octree_1_1_color_coding.html), ideally something generic that works for other fields than just intensity. Storing...

@oldtimerzhy The situation is still the same: nobody implemented compression for PointXYZI yet. "Storing the intensity into R" means using PointXYZRGB or PointXYZRGBA instead of PointXYZI, and copying the intensity...

@StefanBruens Thanks for investigating! Are you interested to open a pull request with a solution? Then we can discuss this further. It would be important to verify with a measurement...

@StefanBruens @jcar87 I created a PR to drastically reduce the number of template instantiations in MLS (by removing instantiations which are likely used by nobody). Feel free to take a...

Let's close this. I don't know how else to investigate, and using the PCL 1.14.0 or 1.14.1 all-in-one installer (or vcpkg) seems to be a good solution.

Fixed by https://github.com/PointCloudLibrary/pcl/pull/6089

@nilsgr I checked voxel_grid_occlusion_estimation.hpp, and `getCentroidIndexAt` is used in three places: [one](https://github.com/PointCloudLibrary/pcl/blob/master/filters/include/pcl/filters/impl/voxel_grid_occlusion_estimation.hpp#L151), [two](https://github.com/PointCloudLibrary/pcl/blob/master/filters/include/pcl/filters/impl/voxel_grid_occlusion_estimation.hpp#L307), [three](https://github.com/PointCloudLibrary/pcl/blob/master/filters/include/pcl/filters/impl/voxel_grid_occlusion_estimation.hpp#L411) But in all three places, the for/while loops make sure that the values passed to `getCentroidIndexAt`...

Maybe `shiftAlongAzimuth` was originally intended to be used in a different way. I think the size should be unchanged (1980).

Okay, this seems to be not as straightforward as I initially thought. I also had not checked how `shiftAlongAzimuth` was implemented and used in the past. There are some assumptions...